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<div class="title">approximate_voxel_grid.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * $Id: voxel_grid.hpp 1600 2011-07-07 16:55:51Z shapovalov $</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/approximate_voxel_grid.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#ad97480e7b074ebfb12ab133cb055b880">   47</a></span>&#160;<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ad97480e7b074ebfb12ab133cb055b880">pcl::ApproximateVoxelGrid&lt;PointT&gt;::flush</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output, <span class="keywordtype">size_t</span> op, <a class="code" href="structpcl_1_1_approximate_voxel_grid_1_1he.html">he</a> *hhe, <span class="keywordtype">int</span> rgba_index, <span class="keywordtype">int</span> centroid_size)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  hhe-&gt;centroid /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (hhe-&gt;count);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  pcl::for_each_type &lt;FieldList&gt; (<a class="code" href="structpcl_1_1x_nd_copy_eigen_point_functor.html">pcl::xNdCopyEigenPointFunctor &lt;PointT&gt;</a> (hhe-&gt;centroid, output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[op]));</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">if</span> (rgba_index &gt;= 0)</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="comment">// pack r/g/b into rgb</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordtype">float</span> r = hhe-&gt;centroid[centroid_size-3], </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;          g = hhe-&gt;centroid[centroid_size-2], </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;          b = hhe-&gt;centroid[centroid_size-1];</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordtype">int</span> rgb = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (r)) &lt;&lt; 16 | (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (g)) &lt;&lt; 8 | (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (b));</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    memcpy (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[op]) + rgba_index, &amp;rgb, sizeof (<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  }</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;}</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a777b14cbe6856dadb57afcdc84ad9251">   65</a></span>&#160;<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a777b14cbe6856dadb57afcdc84ad9251">pcl::ApproximateVoxelGrid&lt;PointT&gt;::applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;{</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordtype">int</span> centroid_size = 4;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">if</span> (downsample_all_data_)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    centroid_size = boost::mpl::size&lt;FieldList&gt;::value;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; fields;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordtype">int</span> rgba_index = -1;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  rgba_index = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*input_, <span class="stringliteral">&quot;rgb&quot;</span>, fields);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordflow">if</span> (rgba_index == -1)</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    rgba_index = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*input_, <span class="stringliteral">&quot;rgba&quot;</span>, fields);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordflow">if</span> (rgba_index &gt;= 0)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    rgba_index = fields[rgba_index].offset;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    centroid_size += 3;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; histsize_; i++) </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    history_[i].count = 0;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    history_[i].centroid = Eigen::VectorXf::Zero (centroid_size);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  Eigen::VectorXf scratch = Eigen::VectorXf::Zero (centroid_size);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (input_-&gt;points.size ());   <span class="comment">// size output for worst case</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">size_t</span> op = 0;    <span class="comment">// output pointer</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> cp = 0; cp &lt; input_-&gt;points.size (); ++cp) </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordtype">int</span> ix = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (input_-&gt;points[cp].x * inverse_leaf_size_[0]));</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordtype">int</span> iy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (input_-&gt;points[cp].y * inverse_leaf_size_[1]));</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordtype">int</span> iz = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (input_-&gt;points[cp].z * inverse_leaf_size_[2]));</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> hash = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((ix * 7171 + iy * 3079 + iz * 4231) &amp; (histsize_ - 1));</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <a class="code" href="structpcl_1_1_approximate_voxel_grid_1_1he.html">he</a> *hhe = &amp;history_[hash];</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keywordflow">if</span> (hhe-&gt;count &amp;&amp; ((ix != hhe-&gt;ix) || (iy != hhe-&gt;iy) || (iz != hhe-&gt;iz))) </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      flush (output, op++, hhe, rgba_index, centroid_size);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      hhe-&gt;count = 0;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      hhe-&gt;centroid.setZero ();<span class="comment">// = Eigen::VectorXf::Zero (centroid_size);</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    hhe-&gt;ix = ix;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    hhe-&gt;iy = iy;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    hhe-&gt;iz = iz;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    hhe-&gt;count++;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="comment">// Unpack the point into scratch, then accumulate</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordflow">if</span> (rgba_index &gt;= 0)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="comment">// fill r/g/b data</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> rgb;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      memcpy (&amp;rgb, (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span> *<span class="keyword">&gt;</span> (&amp;input_-&gt;points[cp])) + rgba_index, sizeof (<a class="code" href="structpcl_1_1_r_g_b.html">RGB</a>));</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      scratch[centroid_size-3] = rgb.r;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      scratch[centroid_size-2] = rgb.g;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      scratch[centroid_size-1] = rgb.b;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    pcl::for_each_type &lt;FieldList&gt; (<a class="code" href="structpcl_1_1x_nd_copy_point_eigen_functor.html">xNdCopyPointEigenFunctor &lt;PointT&gt;</a> (input_-&gt;points[cp], scratch));</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    hhe-&gt;centroid += scratch;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; histsize_; i++) </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <a class="code" href="structpcl_1_1_approximate_voxel_grid_1_1he.html">he</a> *hhe = &amp;history_[i];</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">if</span> (hhe-&gt;count)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      flush (output, op++, hhe, rgba_index, centroid_size);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (op);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>       = 1;                    <span class="comment">// downsampling breaks the organized structure</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>     = <span class="keyword">false</span>;                 <span class="comment">// we filter out invalid points</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;}</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ApproximateVoxelGrid(T) template class PCL_EXPORTS pcl::ApproximateVoxelGrid&lt;T&gt;;</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a777b14cbe6856dadb57afcdc84ad9251"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a777b14cbe6856dadb57afcdc84ad9251">pcl::ApproximateVoxelGrid::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Downsample a Point Cloud using a voxelized grid approach</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_ad97480e7b074ebfb12ab133cb055b880"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#ad97480e7b074ebfb12ab133cb055b880">pcl::ApproximateVoxelGrid::flush</a></div><div class="ttdeci">void flush(PointCloud &amp;output, size_t op, he *hhe, int rgba_index, int centroid_size)</div><div class="ttdoc">Write a single point from the hash to the output cloud</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga2bc4b9a4e25de1d0b00db4e41f0ad682"><div class="ttname"><a href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a></div><div class="ttdeci">int getFieldIndex(const pcl::PCLPointCloud2 &amp;cloud, const std::string &amp;field_name)</div><div class="ttdoc">Get the index of a specified field (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_approximate_voxel_grid_1_1he_html"><div class="ttname"><a href="structpcl_1_1_approximate_voxel_grid_1_1he.html">pcl::ApproximateVoxelGrid::he</a></div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:113</div></div>
<div class="ttc" id="astructpcl_1_1_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_r_g_b.html">pcl::RGB</a></div><div class="ttdoc">A structure representing RGB color information.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:334</div></div>
<div class="ttc" id="astructpcl_1_1x_nd_copy_eigen_point_functor_html"><div class="ttname"><a href="structpcl_1_1x_nd_copy_eigen_point_functor.html">pcl::xNdCopyEigenPointFunctor</a></div><div class="ttdoc">Helper functor structure for copying data between an Eigen::VectorXf and a PointT.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:49</div></div>
<div class="ttc" id="astructpcl_1_1x_nd_copy_point_eigen_functor_html"><div class="ttname"><a href="structpcl_1_1x_nd_copy_point_eigen_functor.html">pcl::xNdCopyPointEigenFunctor</a></div><div class="ttdoc">Helper functor structure for copying data between an Eigen::VectorXf and a PointT.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:74</div></div>
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